⁷ Then Adonai said, “I have surely seen the affliction of My people who are in Egypt, and have heard their cry because of their slave masters, for I know their pains. ⁸ So I have come down to deliver them . . .  Exodus 3 – source

I have surely seen!
Have heard their cry!
I know their pains!

These are the words of the LORD GOD when Israel was in trouble. While they were not directly spoken to you and me, we can safely appropriate them when we cry out to Him. 

So let us cry out to Him in secret and He will surely come to us!